A method and apparatus for installing a fastener in a surface of a structure. A crawler robot may comprise a first movement system and a second movement system. The first movement system may be configured to move the crawler robot and a track system along the surface. The second movement system may be configured to move the crawler robot along the track system on the surface.
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1. A crawler robot comprising: a first movement system configured to move the crawler robot and a the track system along a surface when the first movement system is in an extended state and transitions to a retracted state such that the first movement system is removed from the surface, wherein the crawler robot is configured to perform an operation on the surface; and a second movement system configured to move the crawler robot along the track system on the surface when the first movement system is in the retracted state.
A crawler robot has two movement systems. The first system moves the robot and its track along a surface when it's extended. It can retract to lift itself off the surface. The robot is designed to perform tasks like drilling or fastening on the surface. The second movement system moves the robot along the track system once the first system is retracted.
2. The crawler robot of claim 1 further comprising: a drilling system.
The crawler robot described in claim 1 also includes a drilling system to create holes in the surface. This drilling system is used to prepare the surface for other operations.
3. The crawler robot of claim 2 further comprising: an inspection system configured to inspect a hole drilled by the drilling system.
The crawler robot described in claim 2 (which includes a drilling system) also includes an inspection system. This system checks the holes created by the drilling system to ensure they meet specific requirements, like diameter or depth.
4. The crawler robot of claim 2 further comprising: a fastener system configured to insert a fastener into a hole drilled by the drilling system.
The crawler robot described in claim 2 (which includes a drilling system) also includes a fastener system. This system inserts fasteners (like screws or rivets) into the holes created by the drilling system. The drilling, and fastening systems work together to attach components to the surface.
5. The crawler robot of claim 2 , wherein the drilling system comprises an interchangeable tool holder.
In the crawler robot with a drilling system described in claim 2, the drilling system has an interchangeable tool holder. This allows the robot to use different drill bits or other tools, making it adaptable to various drilling tasks and material types.
6. The crawler robot of claim 3 , wherein the inspection system comprises an interchangeable probe.
In the crawler robot with an inspection system described in claim 3, the inspection system uses an interchangeable probe. This allows the robot to use different sensors or measuring devices, making it adaptable to various inspection tasks.
7. The crawler robot of claim 1 further comprising: a positioning system configured to identify a desired position of the crawler robot on the surface.
The crawler robot described in claim 1 also includes a positioning system. This system identifies the exact location on the surface where the robot needs to perform its operation. This enables accurate and repeatable placement.
8. The crawler robot of claim 7 , wherein the positioning system is configured to identify the desired position of the crawler robot based on index features of the surface.
The crawler robot positioning system described in claim 7 identifies its location based on index features on the surface. These features could be physical markings, holes, or other identifiable elements that the robot uses to orient itself and determine its position.
9. The crawler robot of claim 1 , wherein each of the first movement system and the second movement system comprises at least one of retractable wheels, rollers, gliders, air bearings, holonomic wheels, rails, or tracks.
In the crawler robot described in claim 1, the movement systems (both the first and second) use one or more of the following: retractable wheels, rollers, gliders, air bearings, holonomic wheels, rails, or tracks. These components provide the means for the robot to move across the surface and along the track system.
10. The crawler robot of claim 1 , wherein steering direction for the crawler robot is provided by at least one of a human operator, a controller associated with the crawler robot, or a system controller.
The steering of the crawler robot described in claim 1 can be controlled by a human operator, a controller on the robot itself, or a central system controller. This provides flexibility in how the robot is guided and directed during its operation.
11. The crawler robot of claim 10 , wherein the crawler robot is configured to steer itself.
The crawler robot steering system described in claim 10 is able to steer itself without direct human control. This implies the use of automated guidance and navigation.
12. An apparatus comprising: a track system; and a crawler robot comprising a first movement system configured to move the crawler robot and the track system along a surface of a structure when the first movement system is in an extended state and transitions to a retracted state such that the first movement system is removed from the surface and a second movement system is placed on the surface and is configured to move the crawler robot along the track system on the surface, wherein the crawler robot is configured to perform an operation on the surface.
An apparatus includes a track system and a crawler robot. The robot has a first movement system to move the robot and track along a surface. This system retracts after placement, allowing the track to contact the surface. A second movement system then moves the robot along the track system. The robot is designed to perform tasks on the surface.
13. The apparatus of claim 12 , wherein the track system is a flexible track system configured to flex to substantially conform to a contour of the surface when the surface is a non-planar surface.
In the apparatus described in claim 12, the track system is flexible. This allows it to conform to non-planar surfaces, so it can be used on curved or irregular structures.
14. The apparatus of claim 12 further comprising: a crawler support configured to provide utilities to the crawler robot.
The apparatus described in claim 12 also includes a crawler support. This support provides utilities such as power, data, or materials to the crawler robot. This support allows the robot to operate continuously and efficiently.
15. The apparatus of claim 14 , wherein the crawler support comprises: a movable platform; a movement system configured to move the movable platform relative to the structure within a manufacturing environment; a pick and place arm for at least one of placing the crawler robot and the track system on the surface of the structure or removing the crawler robot and the track system from the surface of the structure; and a utility arm configured to provide the utilities to the crawler robot.
The crawler support described in claim 14 has a movable platform to position the robot, a movement system to move the platform around a manufacturing environment, a pick-and-place arm to put the robot and track on the structure or remove them, and a utility arm to supply power, data, and materials to the robot.
16. The apparatus of claim 15 , wherein steering direction for the movable platform is provided by at least one of a human operator, a controller associated with the movable platform, or a system controller.
The steering of the movable platform described in claim 15 is controlled by a human operator, a controller on the platform itself, or a central system controller. This allows for flexible navigation of the movable platform in the manufacturing environment.
17. The apparatus of claim 16 , wherein the movable platform is configured to steer itself.
The movable platform described in claim 16 can steer itself automatically. This suggests the use of autonomous navigation and path planning for the platform.
18. The apparatus of claim 12 , wherein the operation comprises installing a fastener, and wherein the crawler robot further comprises: a drilling system; an inspection system configured to inspect a hole drilled by the drilling system; and a fastener system configured to insert the fastener into the hole drilled by the drilling system.
In the apparatus described in claim 12, the crawler robot installs fasteners. It has a drilling system to create holes, an inspection system to check the holes, and a fastener system to insert fasteners into the holes. This complete system enables automated fastening operations.
19. A method for installing a fastener in a surface of a structure, the method comprising: moving a crawler robot and a track system along the surface to position the crawler robot within a selected region on the surface using a first movement system while the first movement system is in an extended state, wherein the crawler robot is configured to install the fastener in the surface of the structure; transitioning the first movement system to a retracted state such that the first movement system is removed from the surface and the track system is in contact with the surface; coupling the track system to the surface; and moving the crawler robot relative to the track system to precisely move the crawler robot to a desired position within the selected region.
A method for installing fasteners involves a crawler robot and track system. The robot moves itself and the track to a selected area on a surface using a first movement system while extended. The first system retracts, leaving the track on the surface. The track is then secured to the surface. The robot then moves relative to the track to precisely position itself using a second movement system to install the fastener.
20. The method of claim 19 further comprising: placing the crawler robot and the track system on the surface of the structure using a pick and place arm.
The method for installing fasteners described in claim 19 also includes using a pick-and-place arm to initially position the crawler robot and its track system on the surface of the structure.
21. The method of claim 19 , wherein coupling the track system to the surface comprises: coupling the track system to the surface in which the surface is a non-planar surface and the track system is a flexible track system configured to flex to substantially conform to a contour of the non-planar surface.
In the fastener installation method described in claim 19, securing the track to the surface involves using a flexible track that conforms to non-planar surfaces. This enables the method to work on curved or irregular surfaces.
22. The method of claim 19 , wherein moving the crawler robot relative to the track system comprises: moving the crawler robot relative to the track system using a second movement system that provides a finer level of positioning compared to the first movement system.
In the method described in claim 19, moving the crawler robot relative to the track involves using a second movement system that provides finer positioning compared to the first movement system used for initial placement.
23. The method of claim 19 further comprising: performing at least one of drilling a hole, inspecting the hole, and installing the fastener in the hole while the crawler robot is positioned at the desired position on the surface of the structure.
The fastener installation method described in claim 19 also includes drilling a hole, inspecting the hole, and installing the fastener while the crawler robot is accurately positioned. These steps occur after the robot is moved to its final position on the track.
24. A method for moving a crawler robot and a track system, the method comprising: moving the crawler robot and the track system along a surface using a first movement system of the crawler robot when the first movement system is in an extended state, wherein the crawler robot is configured to perform an operation on the surface; coupling the track system to the surface; retracting the first movement system of the crawler robot to a retracted state such that the first movement system is removed from the surface; and moving the crawler robot along the track system using a second movement system of the crawler robot.
A method for moving a crawler robot and track involves moving the robot and track along a surface using the robot's first movement system in the extended state. The track is secured to the surface. The first movement system retracts. The robot then moves along the track using a second movement system.
25. The method of claim 24 further comprising: positioning the crawler robot on the surface using a positioning system of the crawler robot.
The method described in claim 24 also includes using a positioning system on the crawler robot to determine its location on the surface. This allows the robot to know where it is and navigate accordingly.
26. The method of claim 24 further comprising: drilling a hole in the surface using a drilling system of the crawler robot.
The method described in claim 24 also includes drilling a hole in the surface using a drilling system on the crawler robot. This is a common operation the robot might perform.
27. The method of claim 26 further comprising: inspecting a diameter of the hole using an inspection system of the crawler robot.
The method described in claim 26 (drilling a hole) also includes inspecting the diameter of the hole using an inspection system on the crawler robot. This verifies that the hole meets specifications.
28. The method of claim 27 further comprising: inserting a fastener into the hole using a fastener system of the crawler robot.
The method described in claim 27 (drilling and inspecting a hole) also includes inserting a fastener into the hole using a fastener system on the crawler robot.
29. The method of claim 24 , wherein coupling the track system to the surface comprises pulling a vacuum in suction cups of the track system.
In the method described in claim 24, securing the track system to the surface involves using suction cups on the track and creating a vacuum.
30. The method of claim 24 further comprising: placing the crawler robot and the track system on the surface using a pick and place arm.
The method described in claim 24 also includes placing the crawler robot and track system on the surface using a pick and place arm. This automated process handles the initial setup.
31. The method of claim 24 further comprising: moving utility cables attached to the crawler robot using a utility arm as the crawler robot moves along the surface.
The method described in claim 24 also includes moving utility cables attached to the crawler robot using a utility arm as the robot moves. This manages the cables and prevents them from interfering with the robot's operation.
32. The method of claim 24 further comprising: steering the crawler robot.
The method described in claim 24 also includes steering the crawler robot. This controls the robot's direction of movement along the surface and track.
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December 3, 2014
October 3, 2017
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